机械工程学报 >

2016 , Vol. 52 >Issue 3: 1 - 8

DOI: https://doi.org/10.3901/JME.2016.03.001

机构学及机器人

2自由度绳索牵引并联机器人的高速点到点轨迹规划方法

  • 张文佳 ,
  • 尚伟伟
展开
  • 中国科学技术大学自动化系  合肥  230027
张文佳，女，1991年出生。主要研究方向为绳索驱动并联机器人。 E-mail：rousi@mail.ustc.edu.cn

收稿日期: 2015-02-23

  修回日期: 2015-11-04

  网络出版日期: 2016-02-05

基金资助

国家自然科学基金(51275500)和机械系统与振动国家重点实验室开放基金课题(MSV201502)资助项目

收起

High-speed Point-to-point Trajectory Planning of a 2-DOF Cable Driven Parallel Manipulator

  • ZHANG Wenjia ,
  • SHANG Weiwei
Expand
  • Department of Automation, University of Science and Technology of China, Hefei 230027

Received date: 2015-02-23

  Revised date: 2015-11-04

  Online published: 2016-02-05

Fold

摘要

合理的轨迹规划方法可以提高机器人运动控制的平稳性、快速性和工作效率。当前绳索牵引并联机器人的轨迹规划方法主要采用多项式函数和三角函数满足平稳性要求，但规划算法复杂、快速性较差。针对一种2自由度绳索牵引并联机器人，根据动力学模型推导绳索拉力的单向性约束条件，提出一种新的点到点轨迹规划方法——S型-梯形组合规划方法。考虑到具体的点到点轨迹包含若干个需要依次到达的目标点，构成起始段、中间段和终止段三种不同的运动段，故采用S型-梯形组合规划方法分别设计这三种运动段的速度曲线，使得机器人在起始点和终止点的加速度为零，而中间若干点的加速度不为零，实现动态轨迹规划。仿真试验表明所提出的规划方法不仅可以满足绳索拉力的单向性约束条件，且加速度为简单的一次曲线，可以实现高速的点到点运动。

关键词： 绳索牵引; 并联机器人; S型-梯形速度规划; 动态工作空间; 拉力约束

本文引用格式

张文佳 , 尚伟伟 . 2自由度绳索牵引并联机器人的高速点到点轨迹规划方法[J]. 机械工程学报, 2016 , 52(3) : 1 -8 . DOI: 10.3901/JME.2016.03.001

Abstract

Suitable trajectory planning methods can improve the smoothness, rapidity and efficiency of motion control of robot. Polynomial and trigonometric formulation are often adopted to realize smooth trajectory planning for cable-driven parallel manipulator, while the two approaches are complex and have weak rapidity. A new combined planning method with S-trapezoid curve is proposed for the point-to-point motion of planar 2-DOF cable-driven parallel manipulator, and the unilateral constraints on cable tensions are computed according to the dynamic model. Considering the specific point-to-point trajectory includes a list of target points that must be reached in sequence, thus it can be divided into the initial segment, the middle segment and the final segment. And then the combined planning method with S-trapezoid curve is applied to plan the velocity curve of the three segments. The acceleration is zero at the initial and final point, while it’s nonzero at the middle points. The dynamic trajectory planning can be realized with this state. The proposed planning method is implemented on a 2-DOF cable-driven parallel manipulator, and the simulation results indicate that the unilateral constraints on cable tensions could be satisfied and the acceleration curve is simple first-order curve, thus high-speed point-to-point motion could be realized.

Key words： cable-driven; parallel manipulator; velocity planning with S-trapezoid curve; dynamic workspace; tension constraint

参考文献

[1] MING A，HIGUCHI T. Study on multiple degree-of-freedom positioning mechanism using wires (part 1)—concept，design and control[J]. International Journal of Japan Social Engineering，1994，28(2)：131-138.
 [2] 欧阳波，尚伟伟. 6自由度绳索驱动并联机器人力封闭工作空间的快速求解方法[J]. 机械工程学报，2013，49(15)：34-41.  OUYANG B，SHANG W. Efficient computation method of force-closure workspace for 6-DOF cable-driven parallel manipulators[J]. Journal of Mechanical Engineering，2013，49(15)：34-41.
 [3] TREVISANI A. Underconstrained planar cable-direct- driven robots：A trajectory planning method ensuring positive and bounded cable tensions[J]. Mechatronics，2010，20：113-127.
 [4] BARRETTE G，GOSSELIN C. Determination of the dynamic workspace of cable-driven planar parallel mechanisms[J]. ASME J. Mech. Design，2005，127(2)：242-248.
 [5] CUNNINGHAM D，ASADA H H. The winch-bot：A cable-suspended，under-actuated robot utilizing parametric self-excitation[C]// Proceedings of the IEEE International Conference on Robotics and Automation，May 2009，Kobe Japan. IEEE，2009：1844-1850.
 [6] LEFRANCOIS S，GOSSELIN C. Point-to-point motion control of a pendulum-like 3-dof underactuated cable-driven robot[C]// Proceedings of the IEEE Conference on Robotics and Automation，May 2010，Anchorage AK USA. IEEE，2010：5187-5193.
 [7] ZOSO N，GOSSELIN C. Point-to-point motion planning of a parallel 3-DOF underactuated cable-suspended robot[C]// Proceedings of IEEE Conference on Robotics and Automation，May 2012，Saint Paul MN USA. IEEE，2012：2325-2330.
 [8] GOSSELIN C，FOUCAULT S. Dynamic point-to-point trajectory planning of a two-DOF cable-suspended parallel robot[J]. IEEE Transactions on Robotics，2012：1476-1481.
 [9] GOSSELIN C. Global planning of dynamically feasible trajectories for three-dof spatial cable-suspended parallel robots[J]. Mechanisms and machine Science，2013，12：3-22.
Options
文章导航

/

〈 〉

版权所有 © 《机械工程学报》编辑部

技术支持：北京玛格泰克科技发展有限公司